Sliding-based methods have been proven effective in the design of safety-augmented control of autonomous robots [1]}, [2]}, [3]}, [4]}. Therefore, this paper provides control-oriented models and standardized design instructions based on a super-twisting algorithm to obtain a variable structure control with guaranteed safety features. The proposed design isolates the properties of the environment from the control design. The proposed control has a predefined structure with minimal control parameters, which conveniently handles multiple safety control problems, including obstacle avoidance, geofencing, and border patrol. The super-twisting algorithm is chosen as the primary control module to achieve precision trajectory tracking and safe operation. The super-twisting algorithm is robust, guarantees finite-time convergence, has a minimal set of parameters with explicit stability bounds, and features smooth transient and perfect tracking behavior.
